CN112147641B - Laser navigation lamp system for rescue vehicle in complex environment and navigation method - Google Patents
Laser navigation lamp system for rescue vehicle in complex environment and navigation method Download PDFInfo
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- CN112147641B CN112147641B CN202010987579.0A CN202010987579A CN112147641B CN 112147641 B CN112147641 B CN 112147641B CN 202010987579 A CN202010987579 A CN 202010987579A CN 112147641 B CN112147641 B CN 112147641B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9323—Alternative operation using light waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93272—Sensor installation details in the back of the vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to a laser navigation lamp for a rescue vehicle in a complex environment, which comprises a bearing base, a laser range finder, a microwave range finder, laser navigation lamps, a 3D scanning camera and a driving circuit, wherein the front end face and the rear end face of the bearing base are respectively provided with a bearing groove, the laser range finder and the 3D scanning camera are embedded in the bearing grooves of the front end face of the bearing base, the microwave range finder is uniformly distributed on the front end face of the bearing base corresponding to the groove wall of the bearing groove along the axis of the bearing base, the laser navigation lamps are symmetrically distributed on two sides of the bearing base, and the driving circuit is embedded in the bearing grooves of the rear end face of the bearing base. The using method comprises two steps of equipment assembly, navigation obstacle avoidance and the like. On one hand, the invention can effectively meet the requirement of matching operation with various different vehicle devices in various complex field environments; on the other hand, the long-distance and short-distance synchronous ranging and three-dimensional modeling recognition can be realized on the path of the travel, so that the accuracy of judging and recognizing the obstacle on the path of the travel is effectively improved.
Description
Technical Field
The invention relates to vehicle navigation equipment, and belongs to the technical field of special rescue vehicles.
Background
At present, in the on-site rescue of disasters such as fire, earthquake, debris flow and the like, a disaster relief vehicle always needs to plan and navigate a vehicle running path by means of navigation equipment and obstacle avoidance equipment in running, and the currently used navigation equipment and the currently used obstacle avoidance equipment are always matched with conventional start to write based on GNSS satellite navigation, range radar, on-site cameras and the like to run, so that although the use requirement can be met to a certain extent, the running reliability of a current guiding system is relatively poor and even effective navigation operation cannot be carried out when rescue activities are carried out on satellite communication signals such as injection mines and the like in environments; on the other hand, the currently used navigation and obstacle avoidance equipment is in operation, so that the general route can be planned only, simple distance measurement operation is carried out on obstacles on a route in the travelling process, accurate planning and limiting of the range of the travelling path cannot be realized, meanwhile, the structure and the volume of the path obstacles cannot be accurately judged, the trafficability of the obstacles cannot be judged in the vehicle operation process, the vehicle is damaged easily due to the fact that the obstacles are too large, and the stability and the reliability of the vehicle operation are seriously influenced.
Therefore, in view of this current situation, there is an urgent need to develop a new navigation device for rescue vehicles to meet the needs of practical use.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a laser navigation lamp for a rescue vehicle in a complex environment, which overcomes the defects and meets the requirements of actual detection operation.
In order to achieve the above object, the present invention is realized by the following technical scheme:
The utility model provides a rescue car is with laser navigation lamp under complex environment, including bearing the base, laser rangefinder, microwave rangefinder, laser navigation lamp, 3D scans camera and drive circuit, the bearing base is the slot form structure of transversal personally submitting "worker" font, a bearing groove parallel arrangement with bearing base axis is all established to its preceding terminal surface and rear end face, wherein at least one of laser rangefinder inlays in the bearing groove of bearing base preceding terminal surface, laser rangefinder rear end face passes through guide rail and bearing groove tank bottom sliding connection, its axis and bearing groove axis are perpendicular and intersect, personally submit 0 ~ 70 contained angle with the horizontal plane, and guide rail and bearing groove axis parallel arrangement, 3D scans the camera and inlays in the bearing groove of bearing base preceding terminal surface, be located bearing groove midpoint position and 3D scans the camera optical axis and intersect and be 5~ 60 contained angle with the horizontal plane, microwave rangefinder a plurality of microwave rangefinder is along bearing base axis equipartition on the bearing base preceding terminal surface that the bearing groove cell wall corresponds, and microwave rangefinder axis and horizontal plane parallel arrangement, laser navigation lamp at least two, the symmetry distributes in bearing base both sides, and through guide rail and bearing groove bottom sliding connection, its axis and bearing groove parallel arrangement, 0 ~ 70 contained angle with laser ranging lamp, drive circuit, the bearing surface is perpendicular to the laser ranging plane, and bearing surface, and drive circuit, and bearing angle is perpendicular to the laser ranging plane.
Further, the laser navigation lamp comprises a bearing shell, a laser generator, a focusing lens group, a differentiation plate, a window sheet, a heat dissipation mechanism, an auxiliary illuminating lamp, a wiring terminal and an inclination sensor, wherein the cross section of the bearing shell is of a rectangular cavity structure, the laser generator is embedded in the bearing shell and is coaxially distributed with the bearing shell, the rear end surface of the laser generator is connected with the rear end surface of the bearing shell through the heat dissipation mechanism, the rear end surface of the bearing shell corresponding to the heat dissipation mechanism is provided with a heat dissipation opening, the front end surface of the laser generator is provided with a light transmission hole coaxially distributed with the laser generator, the window sheet is embedded in the light transmission hole and is coaxially distributed with the light transmission hole, the focusing lens group and the differentiation plate are located between the laser generator and the window sheet and are coaxially distributed with the laser generator, the differentiation plate is located on one side close to the window sheet and is parallel to the optical axis of the bearing shell, the distance between the rear end surface of the auxiliary illuminating lamp and the window sheet is 0-5 mm, at least one auxiliary illuminating lamp is connected with the outer surface of the bearing shell, the optical axis of the bearing shell is parallel to the optical axis of the laser generator, the inclination sensor is connected with the lower surface of the bearing shell, the front end surface of the bearing shell is coaxially distributed with the light, the window sheet is coaxially distributed with the laser generator, the light is coaxially distributed with the laser generator, the window generator, the wiring terminal is located inside the light generator, the light is coaxially distributed with the light transmission hole, and the light connection terminal is coaxially distributed with the laser generator, and the auxiliary illuminating lamp.
Further, the focusing lens group and the laser generator are both in sliding connection with the inner surface of the bearing shell through at least two sliding rails, and a traveling structure is arranged in each sliding rail and is electrically connected with the focusing lens group and the laser generator through traveling mechanisms.
Furthermore, the laser generator light spots are any one of a straight shape and a cross shape, and the laser generator light spot axes are vertically distributed with the bearing base axes.
Further, the bearing base is any one of a linear groove-shaped frame structure and an arc frame structure, at least two connecting sliding grooves which are vertically distributed with the axis of the bearing base are respectively arranged on the upper end face and the lower end face of the bearing base, and the connecting sliding grooves are uniformly distributed along the axis direction of the bearing base.
Further, the rear end face of the laser range finder is provided with a sliding block and is in sliding connection with the guide sliding rail through the sliding block, the rear end face of the sliding block is embedded in the guide sliding rail, the front end face of the sliding block is hinged with the rear end face of the laser range finder through a rotary table mechanism, the rotary table mechanism is provided with at least one angle sensor, the outer side face of the sliding block is additionally provided with at least one displacement sensor, the displacement sensor is in sliding connection with the guide sliding rail, and the angle sensor and the displacement sensor are electrically connected with a driving circuit.
Furthermore, when the optical axis ground plane of the laser range finder, the microwave range radar, the laser navigation lamp and the 3D scanning camera is intersected, the intersection points are all positioned in front of the bearing base, and the distance between the intersection points and the front end surface of the bearing base is not less than 10 cm.
Further, the driving circuit is a circuit system based on any one of an FPG and a DSP chip, and is additionally provided with an industrial bus module, an IGBT driving circuit module and a data communication bus module, wherein the industrial bus module is electrically connected with the IGBT driving circuit module and the data communication bus module, and the industrial bus module and the IGBT driving circuit module are electrically connected with the laser range finder, the microwave range finder, the laser navigation lamp and the 3D scanning camera respectively.
On one hand, the invention has the advantages of convenient integration degree, convenient installation and positioning, simple and flexible operation and strong environment adaptability, can effectively meet the requirement of matching operation with various different vehicle devices in various complex field environments, and has good use flexibility and universality; on the other hand, the vehicle travel path range can be clearly and accurately determined, and meanwhile, long-distance and short-distance synchronous ranging and three-dimensional modeling recognition can be realized on the travel path, so that the recognition accuracy of obstacle judgment on the travel path is effectively improved, the rationality and scientificity of planning and designing the vehicle travel path are realized, meanwhile, blocking and damage of the obstacle to the vehicle can be effectively prevented, and the running safety and reliability of the rescue vehicle are improved.
Drawings
The invention is described in detail below with reference to the drawings and the detailed description.
FIG. 1 is a schematic cross-sectional partial structure of the present invention;
FIG. 2 is a schematic top view of a partial structure of the present invention;
fig. 3 is a structural view of a laser navigation light.
Detailed Description
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
As shown in fig. 1-3, a laser navigation lamp for rescue vehicle in complex environment comprises a bearing base 1, a laser range finder 2, a microwave range radar 3, a laser navigation lamp 4, a 3D scanning camera 5 and a driving circuit 6, wherein the bearing base 1 is of a groove-shaped structure with an I-shaped cross section, the front end surface and the rear end surface of the bearing base are respectively provided with a bearing groove 7 which is parallel to the axis of the bearing base 1, at least one of the laser range finder 2 is embedded in the bearing groove 7 of the front end surface of the bearing base 1, the rear end surface of the laser range finder 2 is in sliding connection with the groove bottom of the bearing groove 7 through a guide slide rail 8, the axis of the laser range finder 2 is perpendicular to the axis of the bearing groove 7 and intersects with the axis of the horizontal plane, an included angle of 0-70 DEG is formed between the guide slide rail 8 and the axis of the bearing groove 7, the 3D scanning camera 5 is embedded in the bearing groove 7 of the front end surface of the bearing base 1, the optical axis of the 3D scanning camera 5 intersects with the horizontal plane and forms an included angle of 5-60 DEG, the microwave range radar 3 is a plurality of the microwave range radars 3 are distributed on the wall of the bearing groove 7 corresponding to the end surface of the bearing groove 1 along the axis of the bearing base 1, the axis is perpendicular to the axis of the bearing groove 7 and intersects with the axis of the horizontal plane, and the laser range finder 4 is parallel to the axis of the bearing groove 7, and the horizontal plane is at least two sides of the bearing 4 is parallel to the bearing groove 7, and the bearing 4 is arranged in the bearing groove 7 is parallel to the bearing groove 1 and the bearing groove 1.
The key points are that the laser navigation lamp 4 comprises a bearing shell 41, a laser generator 42, a focusing lens group 43, a differentiation plate 44, a window plate 45, a heat dissipation mechanism 46, an auxiliary illuminating lamp 47, a wiring terminal 48 and an inclination sensor 49, wherein the cross section of the bearing shell 41 is of a rectangular cavity structure, the laser generator 42 is embedded in the bearing shell 41 and is coaxially distributed with the bearing shell 41, the rear end face of the laser generator 42 is connected with the rear end face of the bearing shell 41 through the heat dissipation mechanism 46, the rear end face of the bearing shell 41 corresponding to the heat dissipation mechanism 46 is provided with a heat dissipation opening 10, the front end face of the laser generator 42 is provided with light holes 11 coaxially distributed with the laser generator 42, the window plate 45 is embedded in the light holes 11 and is coaxially distributed with the light holes 11, the focusing lens group 43 and the dividing plate 44 are positioned between the laser generator 42 and the window plate 45 and are coaxially distributed with the laser generator 42, the dividing plate 44 is positioned at one side close to the window plate 45 and is spaced 0-5 mm from the rear end face of the window plate 45, at least one auxiliary illuminating lamp 47 is connected with the outer surface of the bearing shell 41, the optical axis of the bearing shell 41 is parallel to the optical axis of the laser generator 42, at least one inclination sensor 49 is connected with the lower surface of the bearing shell 41 and is positioned at the midpoint of the bearing shell 41, and at least one wiring terminal 48 is embedded on the outer side face of the bearing shell 41 and is electrically connected with the laser generator 42, the heat dissipation mechanism 46, the auxiliary illuminating lamp 47, the inclination sensor 49 and the driving circuit 6 respectively.
Further preferably, the focusing lens group 43 and the laser generator 42 are both slidably connected with the inner surface of the bearing shell 41 through at least two sliding rails 12, and the sliding rails 12 are internally provided with the traveling structure 13 and are electrically connected with the focusing lens group 43 and the laser generator 42 through the traveling mechanism 13.
In addition, the light spot of the laser generator 42 is any one of a straight line shape and a cross shape, and the light spot axis of the laser generator 42 is vertically distributed with the axis of the bearing base 1.
Meanwhile, the bearing base 1 is any one of a linear groove-shaped frame structure and an arc frame structure, at least two connecting sliding grooves 14 which are vertically distributed with the axis of the bearing base 1 are arranged on the upper end face and the lower end face of the bearing base 1, and the connecting sliding grooves 14 are uniformly distributed along the axis direction of the bearing base 1.
It should be noted that, the rear end face of the laser range finder 2 is provided with a sliding block 15, and is slidably connected with the guide sliding rail 8 through the sliding block 15, the rear end face of the sliding block 15 is embedded in the guide sliding rail 8, the front end face is hinged with the rear end face of the laser range finder 2 through a turntable mechanism 9, at least one angle sensor 16 is arranged on the turntable mechanism 9, the outer side face of the sliding block 15 is additionally provided with at least one displacement sensor 17, the displacement sensor 17 is slidably connected with the guide sliding rail 8, and the angle sensor 16 and the displacement sensor 17 are electrically connected with the driving circuit 6.
Further preferably, when the optical axis ground planes of the laser range finder 2, the microwave range radar 3, the laser navigation lamp 4 and the 3D scanning camera 5 are intersected, the intersection points are all positioned in front of the bearing base 1, and the distance between the intersection points and the front end surface of the bearing base 1 is not less than 10 cm.
In this embodiment, the driving circuit 6 is a circuit system based on any one of an FPG and DSP chip, and the driving circuit is additionally provided with an industrial bus module, an IGBT driving circuit module, and a data communication bus module, where the industrial bus module is electrically connected with the IGBT driving circuit module and the data communication bus module, and the industrial bus module and the IGBT driving circuit module are electrically connected with the laser range finder 2, the microwave range radar 3, the laser navigation lamp 4, and the 3D scanning camera 5, respectively.
In a specific implementation of the present invention, in a method, comprising the steps of:
S1, equipment is assembled, a bearing base, a laser range finder, a microwave range finder, laser navigation lamps, a 3D scanning camera and a driving circuit which form the invention are assembled, then the invention is embedded into the outer surfaces of the front end surface and the rear end surface of a rescue vehicle body through the bearing base after assembly, the front end surface of the bearing base forms an included angle of 30-90 degrees with the horizontal plane, the axes are parallel to the horizontal plane, finally the driving circuit is electrically connected with a control circuit system of the rescue vehicle, the laser range finder is adjusted to be positioned at the key position of the bearing base and is parallel to the axis of the rescue vehicle body, the axes of the two laser navigation lamps are parallel to the axis of the rescue vehicle body and are symmetrically distributed at two sides of the rescue vehicle body, and the interval between the two laser navigation lamps is 90-120% of the maximum width of the rescue vehicle;
S2, navigation obstacle avoidance, wherein during operation of the rescue vehicle, spot projection is firstly carried out at the front and rear positions of the travel path of the rescue vehicle through a laser navigation lamp, on one hand, the travel path range is determined through the mark of the spot, and on the other hand, when the spot projection is carried out, the distance measurement scale projection is synchronously realized when the ground spot projection is carried out through a division board of the laser navigation lamp, and the primary distance measurement is carried out on the distance between the travel path of the vehicle and the target and the obstacle through the spot; then, the laser range finders, the microwave range radars and the 3D scanning cameras are operated simultaneously, and the obstacles in the path range marked by the laser navigation lamp are searched and detected, wherein the short-distance obstacles in the front end face and the rear end face of the vehicle are detected and measured through the front sides of the microwave range radars; detecting and ranging the remote obstacle at the front end surface and the rear end surface by a laser range finder; determining the distance between the obstacle and the vehicle body; then, the road condition and the obstacle at the front end face and the rear end face of the vehicle are integrally scanned through a 3D scanning camera, and the position and the structural characteristic of the obstacle on the travelling path of the rescue vehicle are identified by matching with a laser range finder and a microwave range radar; therefore, the comprehensive rescue vehicle path and the obstacle information on the path are obtained, and the requirement of vehicle operation navigation obstacle avoidance operation is met.
On one hand, the invention has the advantages of convenient integration degree, convenient installation and positioning, simple and flexible operation and strong environment adaptability, can effectively meet the requirement of matching operation with various different vehicle devices in various complex field environments, and has good use flexibility and universality; on the other hand, the vehicle travel path range can be clearly and accurately determined, and meanwhile, long-distance and short-distance synchronous ranging and three-dimensional modeling recognition can be realized on the travel path, so that the recognition accuracy of obstacle judgment on the travel path is effectively improved, the rationality and scientificity of planning and designing the vehicle travel path are realized, meanwhile, blocking and damage of the obstacle to the vehicle can be effectively prevented, and the running safety and reliability of the rescue vehicle are improved.
It will be appreciated by those skilled in the art that the invention is not limited to the embodiments described above. The foregoing embodiments and description have been presented only to illustrate the principles of the invention. The present invention is capable of various changes and modifications without departing from its spirit and scope. Such variations and modifications are intended to fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The utility model provides a rescue car is with laser navigation lamp under complex environment which characterized in that: the laser navigation lamp for the rescue vehicle in the complex environment comprises a bearing base, a laser range finder, a microwave range finder, a laser navigation lamp, a 3D scanning camera and a driving circuit, wherein the bearing base is of a groove-shaped structure with an I-shaped cross section, the front end face and the rear end face of the bearing base are respectively provided with a bearing groove which is parallel to the axis of the bearing base, at least one laser range finder is embedded in the bearing groove of the front end face of the bearing base, the rear end face of the laser range finder is in sliding connection with the groove bottom of the bearing groove through a guide sliding rail, the axis of the laser range finder is perpendicular to the axis of the bearing groove and intersects with the axis of the bearing groove, the horizontal plane forms an included angle of 0-70 DEG, the guide sliding rail is parallel to the axis of the bearing groove, the 3D scanning camera is embedded in the bearing groove of the front end face of the bearing base, the optical axis of the 3D scanning camera intersects with the horizontal plane and forms an included angle of 5-60 DEG, the microwave range finder is a plurality of the microwave range finder are arranged on the front end face of the corresponding bearing base along the axis of the bearing groove, the axis of the microwave range finder is parallel to the horizontal plane, the axis of the laser range finder is perpendicular to the bearing groove is perpendicular to the axis of the bearing groove through the guide sliding connection, and the laser range finder is perpendicular to the axis of the bearing groove, and the laser range finder is perpendicular to the bearing groove and intersects with the axis of the bearing groove respectively, and runs at least two sides of the laser range lamp and has an included angle between the laser range and 90 DEG and the laser range lamp and the horizontal plane and the laser range lamp; the laser navigation lamp comprises a bearing shell, a laser generator, a focusing lens group, a differentiation plate, a window sheet, a heat dissipation mechanism, an auxiliary illuminating lamp, a wiring terminal and an inclination sensor, wherein the cross section of the bearing shell is of a rectangular cavity structure, the laser generator is embedded in the bearing shell and is coaxially distributed with the bearing shell, the rear end surface of the laser generator is connected with the rear end surface of the bearing shell through the heat dissipation mechanism, the rear end surface of the bearing shell corresponding to the heat dissipation mechanism is provided with a heat dissipation opening, the front end surface of the laser generator is provided with a light transmission hole coaxially distributed with the laser generator, the window sheet is embedded in the light transmission hole and is coaxially distributed with the light transmission hole, the focusing lens group and the differentiation plate are positioned between the laser generator and the window sheet and are coaxially distributed with the laser generator, the differentiation plate is positioned on one side close to the window sheet and is parallel to the optical axis of the bearing shell, the interval between the rear end surface of the laser generator and the window sheet is 0-5 mm, at least one auxiliary illuminating lamp is connected with the outer surface of the bearing shell, the optical axis of the bearing shell is parallel to the optical axis of the laser generator, the inclination sensor is connected with the lower surface of the bearing shell and is coaxially distributed with the midpoint of the bearing shell, the position of the wiring terminal is coaxially distributed with the laser generator, and the driving circuit is respectively embedded between the laser generator and the driving circuit and the auxiliary illuminating lamp; the focusing lens group and the laser generator are both in sliding connection with the inner surface of the bearing shell through at least two sliding rails, a traveling structure is arranged in each sliding rail, and the focusing lens group and the laser generator are electrically connected through traveling mechanisms; the laser generator light spots are any one of a straight shape and a cross shape, and the light spot axes of the laser generator are vertically distributed with the bearing base axis.
2. The laser navigation lamp for rescue vehicles in a complex environment according to claim 1, wherein: the bearing base is any one of a linear groove-shaped frame structure and an arc frame structure, at least two connecting sliding grooves which are vertically distributed with the axis of the bearing base are arranged on the upper end face and the lower end face of the bearing base, and the connecting sliding grooves are uniformly distributed along the axis direction of the bearing base.
3. The laser navigation lamp for rescue vehicles in a complex environment according to claim 1, wherein: the laser range finder is characterized in that the rear end face of the laser range finder is provided with a sliding block and is in sliding connection with the guide sliding rail through the sliding block, the rear end face of the sliding block is embedded in the guide sliding rail, the front end face of the sliding block is hinged with the rear end face of the laser range finder through a rotary table mechanism, the rotary table mechanism is provided with at least one angle sensor, the outer side face of the sliding block is additionally provided with at least one displacement sensor, the displacement sensor is in sliding connection with the guide sliding rail, and the angle sensor and the displacement sensor are electrically connected with a driving circuit.
4. The laser navigation lamp for rescue vehicles in a complex environment according to claim 1, wherein: when the optical axis ground planes of the laser range finder, the microwave range radar, the laser navigation lamp and the 3D scanning camera are intersected, the intersection points are all positioned in front of the bearing base, and the distance between the intersection points and the front end surface of the bearing base is not less than 10 cm.
5. The laser navigation lamp for rescue vehicles in a complex environment according to claim 1, wherein: the driving circuit is a circuit system based on any one of an FPG and a DSP chip, and is additionally provided with an industrial bus module, an IGBT driving circuit module and a data communication bus module, wherein the industrial bus module is electrically connected with the IGBT driving circuit module and the data communication bus module, and the industrial bus module and the IGBT driving circuit module are respectively electrically connected with the laser range finder, the microwave range finder, the laser navigation lamp and the 3D scanning camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010987579.0A CN112147641B (en) | 2020-09-18 | 2020-09-18 | Laser navigation lamp system for rescue vehicle in complex environment and navigation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010987579.0A CN112147641B (en) | 2020-09-18 | 2020-09-18 | Laser navigation lamp system for rescue vehicle in complex environment and navigation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112147641A CN112147641A (en) | 2020-12-29 |
| CN112147641B true CN112147641B (en) | 2024-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010987579.0A Active CN112147641B (en) | 2020-09-18 | 2020-09-18 | Laser navigation lamp system for rescue vehicle in complex environment and navigation method |
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